version: 66.13
glider: 220
mission: 6
dive: 371
start: 11 30 116 1 4 3
data:
$ID,220
$MISSION,6
$DIVE,371
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,930
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,120
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,400
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54354
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0024999999
$HD_B,0.014
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3888
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.7365
$PRESSURE_SLOPE,0.0001077811
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044037569
$SEABIRD_T_H,0.00063615869
$SEABIRD_T_I,2.4815216e-05
$SEABIRD_T_J,2.9729028e-06
$SEABIRD_C_G,-9.8086529
$SEABIRD_C_H,1.075657
$SEABIRD_C_I,-0.0023452051
$SEABIRD_C_J,0.00023101401
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,301116,005239,1008.1842,-12450.4551,24,0.7,32,9.0,0.7,324.8,12,5.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-71.3
$GPS2,301116,010340,1008.2682,-12450.4229,2,0.7,4,9.0,0.9,98.5,12,9.4
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,311.7,26574,-17.6,-7.750,-24.23,2047
$D_GRID,930
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.93,-107.1,107,2788,1096,1017,0.0,0.0,0,93,0.00,0.00,-77.25,0.000,16390,0.000,0.000,106,2787,3479,3470,3488,0,0,0,0,0,0,14.67,12.60,14.66
$GC,96,-0.93,-107.1,107,2787,3470,3490,1.4,-3.5,2,116,12.05,1.90,0.00,0.000,2308,0.392,0.086,2585,3827,3480,3472,3489,0,0,0,0,0,0,13.99,14.33,14.37
$GC,264,-0.71,-107.1,2585,3828,3476,3487,57.6,-14.1,27,269,0.30,1.75,0.00,0.000,3206,0.230,0.038,2668,2753,3482,3475,3489,0,0,0,0,0,0,14.14,14.54,14.40
$GC,592,-0.71,-107.1,2668,2754,3480,3488,84.5,-8.9,41,598,0.00,2.03,0.00,0.000,260,0.000,0.106,2659,3816,3483,3479,3488,0,0,0,0,0,0,14.85,14.30,14.85
$GC,829,-0.71,-107.1,2659,3817,3479,3490,105.6,-8.2,75,835,0.00,1.77,0.00,0.000,1030,0.000,0.038,2659,2755,3488,3488,3489,0,0,0,0,0,0,14.68,14.64,14.69
$GC,1152,-0.71,-107.1,2659,2753,3480,3488,131.4,-8.1,86,1157,0.00,2.03,0.00,0.000,260,0.000,0.108,2651,3818,3483,3479,3488,0,0,0,0,0,0,14.92,14.33,14.92
$GC,1235,-0.71,-107.1,2651,3819,3480,3487,139.3,-9.5,98,1241,0.00,1.75,0.00,0.000,1030,0.000,0.038,2651,2772,3483,3479,3487,0,0,0,0,0,0,14.71,14.66,14.72
$GC,1600,-0.71,-107.1,2651,2772,3480,3484,173.8,-9.5,108,1605,0.00,2.33,0.00,0.000,516,0.000,0.041,2651,1387,3481,3478,3484,0,0,0,0,0,0,14.92,14.56,14.92
$GC,1662,-0.71,-107.1,2651,1387,3480,3481,179.8,-9.5,117,1669,0.00,2.47,0.00,0.000,1030,0.000,0.067,2640,2770,3480,3478,3483,0,0,0,0,0,0,14.53,14.44,14.57
$GC,1992,-0.71,-107.1,2642,2770,3479,3480,211.4,-9.5,129,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2770,3478,3478,3478,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2328,-0.71,-107.1,2641,2771,3480,3474,242.5,-9.2,135,2333,0.00,2.35,0.00,0.000,516,0.000,0.041,2641,1387,3476,3479,3473,0,0,0,0,0,0,14.93,14.54,14.94
$GC,2362,-0.71,-107.1,2641,1387,3480,3473,245.7,-9.6,140,2368,0.10,2.50,0.00,0.000,3078,0.213,0.068,2662,2772,3480,3488,3473,0,0,0,0,0,0,14.26,14.44,14.42
$GC,2720,-0.71,-107.1,2662,2772,3478,3469,274.3,-7.9,149,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2771,3473,3479,3468,0,0,0,0,0,0,14.94,14.94,14.94
$GC,3056,-0.71,-107.1,2662,2773,3480,3463,300.3,-7.7,155,3061,0.00,2.38,0.00,0.000,548,0.000,0.043,2661,1388,3470,3478,3463,0,0,0,0,0,0,14.94,14.56,14.96
$GC,3139,-0.71,-107.1,2662,1388,3479,3463,307.0,-7.8,167,3145,0.00,2.50,0.00,0.000,1030,0.000,0.070,2652,2770,3470,3479,3462,0,0,0,0,0,0,14.52,14.42,14.57
$GC,3504,-0.71,-107.1,2652,2771,3479,3458,337.1,-8.4,177,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2770,3468,3479,3458,0,0,0,0,0,0,14.94,14.94,14.94
$GC,3840,-0.71,-107.1,2652,2771,3480,3455,366.7,-8.8,183,3845,0.00,2.38,0.00,0.000,516,0.000,0.042,2652,1381,3466,3478,3454,0,0,0,0,0,0,14.95,14.52,14.95
$GC,3916,-0.71,-107.1,2653,1381,3474,3454,373.4,-8.6,194,3922,0.00,2.53,0.00,0.000,1030,0.000,0.070,2643,2764,3466,3479,3453,0,0,0,0,0,0,14.50,14.41,14.57
$GC,4232,-0.71,-107.1,2643,2765,3480,3451,402.1,-9.2,204,4237,0.00,2.03,0.00,0.000,260,0.000,0.114,2635,3817,3464,3478,3451,0,0,0,0,0,0,14.93,14.31,14.93
$GC,4280,-0.71,-107.1,2635,3819,3481,3450,406.9,-10.0,211,4288,0.10,1.77,0.00,0.000,3078,0.233,0.041,2665,2774,3464,3479,3449,0,0,0,0,0,0,14.34,14.68,14.55
$GC,4624,-0.71,-107.1,2665,2775,3480,3446,435.0,-8.1,218,4629,0.00,2.42,0.00,0.000,516,0.000,0.043,2665,1378,3462,3478,3446,0,0,0,0,0,0,14.95,14.49,14.94
$GC,4728,-0.71,-107.1,2665,1379,3480,3446,443.2,-7.6,233,4736,0.00,2.53,0.00,0.000,1062,0.000,0.068,2656,2766,3461,3478,3445,0,0,0,0,0,0,14.47,14.38,14.52
$GC,5072,-0.71,-107.1,2656,2764,3480,3443,469.9,-7.7,240,5077,0.00,2.03,0.00,0.000,292,0.000,0.114,2648,3818,3459,3478,3441,0,0,0,0,0,0,14.92,14.28,14.92
$GC,5120,-0.71,-107.1,2649,3819,3479,3443,473.9,-8.2,247,5128,0.00,1.83,0.00,0.000,1030,0.000,0.043,2647,2759,3460,3478,3443,0,0,0,0,0,0,14.71,14.70,14.73
$GC,5464,-0.71,-107.1,2648,2755,3477,3441,499.9,-7.5,254,5469,0.00,2.38,0.00,0.000,548,0.000,0.043,2645,1369,3458,3478,3439,0,0,0,0,0,0,14.95,14.51,14.95
$GC,5491,-0.71,-107.1,2648,1368,3479,3441,502.1,-7.9,258,5497,0.08,2.53,0.00,0.000,3078,0.226,0.067,2661,2759,3458,3478,3439,0,0,0,0,0,0,14.18,14.38,14.35
$GC,5856,-0.71,-107.1,2665,2760,3479,3438,528.5,-7.2,268,5857,0.00,0.00,0.00,0.000,38,0.000,0.000,2661,2760,3457,3478,3437,0,0,0,0,0,0,14.92,14.92,14.92
$GC,6192,-0.71,-107.1,2661,2759,3479,3436,553.2,-7.4,274,6197,0.00,2.00,0.00,0.000,292,0.000,0.114,2653,3824,3456,3478,3434,0,0,0,0,0,0,14.92,14.30,14.92
$GC,6248,-0.71,-107.1,2654,3824,3479,3435,557.5,-7.7,282,6253,0.00,1.83,0.00,0.000,1062,0.000,0.044,2653,2764,3455,3478,3433,0,0,0,0,0,0,14.59,14.55,14.60
$GC,6584,-0.71,-107.1,2653,2765,3479,3431,583.7,-7.8,295,6589,0.00,2.42,0.00,0.000,516,0.000,0.043,2653,1373,3455,3478,3432,0,0,0,0,0,0,14.92,14.44,14.92
$GC,6667,-0.71,-107.1,2653,1372,3479,3431,590.3,-7.7,307,6673,0.00,2.50,0.00,0.000,1062,0.000,0.067,2643,2750,3454,3478,3431,0,0,0,0,0,0,14.44,14.35,14.49
$GC,7032,-0.71,-107.1,2644,2750,3476,3430,619.4,-8.0,317,7038,0.00,2.08,0.00,0.000,260,0.000,0.114,2635,3831,3454,3480,3429,0,0,0,0,0,0,14.92,14.24,14.91
$GC,7066,-0.71,-107.1,2635,3828,3476,3429,622.4,-8.9,322,7072,0.08,1.88,0.00,0.000,3078,0.242,0.044,2664,2749,3454,3475,3433,0,0,0,0,0,0,14.25,14.62,14.39
$GC,7424,-0.79,-107.1,2665,2749,3473,3431,647.6,-7.0,331,7429,0.00,2.38,0.00,0.000,676,0.000,0.044,2664,1365,3451,3473,3429,0,0,0,0,0,0,14.91,14.48,14.92
$GC,7480,-0.89,-107.1,2664,1364,3473,3431,651.6,-7.2,339,7486,0.08,2.53,0.00,0.000,5286,0.146,0.067,2592,2771,3451,3472,3430,0,0,0,0,0,0,14.45,14.38,14.55
$GC,7816,-0.89,-107.1,2592,2772,3472,3429,685.2,-10.3,352,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2771,3448,3467,3429,0,0,0,0,0,0,14.91,14.90,14.91
$GC,8152,-0.89,-107.1,2592,2772,3477,3427,721.1,-10.7,358,8157,0.00,2.42,0.00,0.000,516,0.000,0.043,2590,1367,3448,3470,3427,0,0,0,0,0,0,14.92,14.46,14.92
$GC,8193,-0.89,-107.1,2591,1366,3471,3428,725.6,-10.6,364,8199,0.10,2.53,0.00,0.000,3078,0.230,0.067,2610,2746,3448,3470,3427,0,0,0,0,0,0,14.07,14.31,14.26
$GC,8544,-0.89,-107.1,2609,2747,3472,3425,759.0,-9.4,372,8549,0.00,2.08,0.00,0.000,260,0.000,0.112,2601,3819,3448,3470,3426,0,0,0,0,0,0,14.94,14.19,14.94
$GC,8578,-0.89,-107.1,2602,3820,3471,3425,762.3,-10.0,377,8585,0.00,1.88,0.00,0.000,1030,0.000,0.044,2601,2733,3448,3470,3426,0,0,0,0,0,0,14.64,14.58,14.66
$GC,8936,-0.89,-107.1,2600,2734,3469,3425,793.8,-8.7,386,8941,0.00,2.15,0.00,0.000,260,0.000,0.111,2593,3827,3446,3468,3425,0,0,0,0,0,0,14.91,14.19,14.91
$GC,8977,-0.89,-107.1,2593,3827,3468,3426,797.5,-8.6,392,8983,0.00,1.85,0.00,0.000,1030,0.000,0.044,2592,2756,3446,3468,3425,0,0,0,0,0,0,14.64,14.57,14.65
$GC,9328,-0.89,-107.1,2592,2756,3468,3425,826.9,-8.4,400,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2755,3445,3467,3423,0,0,0,0,0,0,14.90,14.91,14.90
$GC,9664,-0.89,-107.1,2592,2757,3468,3421,857.1,-9.1,406,9669,0.00,2.10,0.00,0.000,260,0.000,0.113,2584,3817,3443,3466,3421,0,0,0,0,0,0,14.93,14.14,14.93
$GC,9712,-0.89,-107.1,2585,3817,3466,3423,861.9,-10.1,413,9721,0.10,1.85,0.00,0.000,3078,0.246,0.043,2616,2751,3443,3465,3421,0,0,0,0,0,0,14.13,14.57,14.28
$GC,10056,-0.89,-107.1,2617,2753,3466,3421,891.9,-8.7,420,10061,0.00,2.38,0.00,0.000,516,0.000,0.044,2617,1372,3443,3465,3421,0,0,0,0,0,0,14.90,14.40,14.90
$GC,10112,-0.89,-107.1,2617,1372,3464,3422,896.9,-8.0,428,10117,0.00,2.50,0.00,0.000,1030,0.000,0.066,2611,2756,3442,3464,3420,0,0,0,0,0,0,14.47,14.28,14.49
$GC,10448,-0.89,-107.1,2608,2757,3466,3419,926.8,-8.8,441,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2756,3442,3465,3419,0,0,0,0,0,0,14.92,14.92,14.92
$STATE,10501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10501,begin apogee
$GC,10508,-0.23,0.0,2608,2224,3465,3418,931.7,-8.9,442,10621,0.75,0.08,110.15,1.971,10244,0.181,0.181,2824,2260,3050,3091,3009,0,0,0,0,0,0,14.08,13.92,12.99
$STATE,10623,end apogee,CONTROL_FINISHED_OK
$STATE,10623,begin climb
$GC,10626,0.93,107.1,2825,2260,3088,3005,935.4,0.0,444,10751,1.10,2.50,116.65,1.959,10756,0.090,0.054,3184,887,2623,2682,2564,0,0,0,0,0,0,13.99,14.02,12.87
$GC,10785,0.81,107.1,3191,889,2679,2548,929.7,8.7,468,10791,0.00,2.50,0.00,0.000,1158,0.000,0.050,3184,2250,2612,2677,2547,0,0,0,0,0,0,14.00,13.90,14.02
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$STATE,22615,end climb,SURFACE_DEPTH_REACHED
$STATE,22615,begin surface coast
$FINISH,-0.9,1.020871
$STATE,22643,end surface coast,CONTROL_FINISHED_OK
$STATE,22643,begin surface
$SM_CCo,22663,20.62,0.161,0,0,1058,500.14
$SM_GC,-0.19,9.07,0.93,20.62,0.052,0.090,0.161,183,2769,1058,-8.40,-0.59,500.14,0,0,0,0,0,0,14.52,14.42,14.23
$IRIDIUM_FIX,1002.64,-12444.62,291116,183801
$TT8_MAMPS,0.039697,0.294357
$HUMID,55.51
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.40
$XPDR_PINGS,0
$SC_FREEKB,3767264
$PM_FREEKB,55570368
$24V_AH,12.60,134.265
$10V_AH,12.64,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.075,204.825,476.300,20.625,0.000,0.000,0.000,379.050,0.000,0.000,5.948,0.000,19371.162,853.093,2663.164,443.977,0.000,2059.915,0.000,1695.556,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22701.000,22650.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.447,2.395,0.000,0.000
$MEM,334732
$DATA_FILE_SIZE,33307,948
$CAP_FILE_SIZE,170234,0
$CFSIZE,1024409600,951418880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,340.82,1
$GPS,301116,072301,1010.505,-12452.051,24,0.8,24,9.0,0.1,0.0,10,3.5